15 papers
GenHOI: Contact-Aware Humanoid-Object Interaction by Imitating Generated Videos without Task-Specific Training
Zhihai Bi, Qiang Zhang, Guoyang Zhao +8
Humanoid-Object Interaction (HOI) is a fundamental capability for humanoid robots, yet it remains challenging due to the tight coupling between dynamic balance and stable interacti…
Safe Navigation in Unknown and Cluttered Environments via Direction-Aware Convex Free-Region Generation
Zhicheng Song, Yongjian Li, Kai Chen +3
Convex free regions provide a structured and optimization-friendly representation of collision-free space for robot navigation in unknown and cluttered environments. However, exist…
A Reconfigured Wheel-Legged Robot for Enhanced Steering and Adaptability
Zhicheng Song, Jinglan Xu, Chunxin Zheng +3
Wheel-legged robots integrate leg agility on rough terrain with wheel efficiency on flat ground. However, most existing designs do not fully capitalize on the benefits of both legg…
ALORE: Autonomous Large-Object Rearrangement with a Legged Manipulator
Zhihai Bi, Yushan Zhang, Kai Chen +3
Endowing robots with the ability to rearrange various large and heavy objects, such as furniture, can substantially alleviate human workload. However, this task is extremely challe…
Fast and Safe Trajectory Optimization for Mobile Manipulators With Neural Configuration Space Distance Field
Yulin Li, Zhiyuan Song, Yiming Li +8
Mobile manipulators promise agile, long-horizon behavior by coordinating base and arm motion, yet whole-body trajectory optimization in cluttered, confined spaces remains difficult…
Online Trajectory Optimization for Arbitrary-Shaped Mobile Robots via Polynomial Separating Hypersurfaces
Shuoye Li, Zhiyuan Song, Yulin Li +2
An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear se…